CN108789416B - System and method for controlling flexible live working of double mechanical arms - Google Patents
System and method for controlling flexible live working of double mechanical arms Download PDFInfo
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- CN108789416B CN108789416B CN201810846453.4A CN201810846453A CN108789416B CN 108789416 B CN108789416 B CN 108789416B CN 201810846453 A CN201810846453 A CN 201810846453A CN 108789416 B CN108789416 B CN 108789416B
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000001514 detection method Methods 0.000 claims abstract description 16
- 230000007246 mechanism Effects 0.000 claims description 26
- 238000012545 processing Methods 0.000 claims description 14
- 210000003857 wrist joint Anatomy 0.000 claims description 14
- 210000002310 elbow joint Anatomy 0.000 claims description 9
- 210000000245 forearm Anatomy 0.000 claims description 9
- 210000000323 shoulder joint Anatomy 0.000 claims description 9
- 230000001133 acceleration Effects 0.000 claims description 3
- 230000003068 static effect Effects 0.000 claims description 3
- 210000000707 wrist Anatomy 0.000 description 16
- 238000010586 diagram Methods 0.000 description 3
- 210000004247 hand Anatomy 0.000 description 3
- 230000007423 decrease Effects 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005672 electromagnetic field Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
Abstract
The invention belongs to the technical field of electric power, and particularly provides a mechanical arm control system and method for live working. The invention aims to solve the problem that the existing live working robot cannot flexibly contact with a power line and possibly damages the power line. The system for controlling the flexible live working of the double mechanical arms comprises an industrial personal computer and two mechanical arms, wherein the tail ends of the mechanical arms are provided with detection units, and the system comprises the following components: the detection unit is used for determining position information of characteristic points of the power line to be operated; the industrial personal computer is used for determining the operation track of the mechanical arm according to the position information; and the motion parameters of the mechanical arm in the process of moving along the operation track are determined according to the position information. By means of the arrangement, the flexible contact of the mechanical arm to the power line is achieved, the damage of the rigid mechanical arm to the power line is avoided, the operation safety of a system for controlling the flexible live working of the double mechanical arms is greatly improved, and meanwhile the safety of a power system is also protected.
Description
Technical Field
The invention belongs to the technical field of electric power, and particularly provides a system and a method for controlling flexible live working of a double mechanical arm.
Background
At present, many operations of the power grid in China need live working modes. Under the condition that the current live working mode requires no power failure, an operator climbs a tower with a pole or works by means of an insulating arm car. The manual live operation requires operators to perform manual operations such as wiring, wire disconnection and the like under extremely dangerous environments such as high altitude, high voltage, strong electromagnetic field and the like, and has high labor intensity and high spirit and tension. The method not only brings personal danger to live working personnel, but also has low working efficiency.
In order to solve the above problems, a live working robot was studied and invented. The live working robot mainly adopts a remote control operation method of a master mechanical arm and a slave mechanical arm, and an operator controls the mechanical arm to complete a live working task in a remote control mode. The method guarantees the safety of operators, but as the mechanical arm is a rigid body and is generally a metal arm wrapped by an insulating layer, the mechanical arm cannot contact the power line in a flexible contact mode like a human arm. Therefore, when the control is improper, the mechanical arm is likely to damage the power line, thereby bringing a danger.
Accordingly, there is a need in the art for a system and method for controlling a dual-robot flexible live line work that addresses the above-described issues.
Disclosure of Invention
In order to solve the above-mentioned problems in the prior art, that is, to solve the problem that the existing live working robot cannot flexibly contact the power line and may damage the power line, on one hand, the present invention provides a system for controlling a dual-mechanical arm flexible live working, the system includes an industrial personal computer and two mechanical arms, and the tail ends of the mechanical arms are provided with detection units, wherein: the detection unit is used for determining position information of characteristic points of the power line to be operated; the industrial personal computer is used for determining the operation track of the mechanical arm according to the position information; and the motion parameters of the mechanical arm in the process of moving along the operation track are determined according to the position information.
In a preferred embodiment of the above system, the detection unit includes: the image acquisition processing mechanism is used for acquiring image data of the power line to be operated under the condition that the power line to be operated is in a static state, establishing a model of the power line to be operated according to the image data and marking feature points according to the model; and the distance measuring mechanism is used for measuring the distance between the characteristic point and the tail end of the mechanical arm.
In a preferred embodiment of the above system, the detection unit includes: the image acquisition processing mechanism is used for acquiring image data of the power line to be operated under the condition that the power line to be operated is in a vibration state, establishing a model of the power line to be operated according to the image data, marking limit position characteristic points in the vibration state according to the model and determining the characteristic points according to the limit position characteristic points; and a distance measuring mechanism for measuring a distance between the feature point and the tip of the mechanical arm.
In the preferred technical scheme of the system, the system comprises a robot platform, wherein the mechanical arm comprises a shoulder joint, a big arm, an elbow joint, a small arm and a wrist joint, one end of the big arm is movably arranged on the robot platform through the shoulder joint, one end of the small arm is movably connected with the other end of the big arm through the elbow joint, the wrist joint is movably connected with the other end of the small arm, and the image acquisition processing mechanism and the distance measuring mechanism are arranged on the wrist joint.
In the preferable technical scheme of the system, the image acquisition and processing mechanism is a binocular camera, and the distance measuring mechanism is a one-dimensional laser radar; and/or the two mechanical arms have the same structure.
In another aspect, the present invention also provides a method for controlling a dual-robot flexible live line work, the method comprising the steps of: determining position information of a characteristic point of the power line to be operated of the power line; determining an operation track of the mechanical arm according to the position information; and determining the motion parameters of the mechanical arm in the process of moving along the operation track according to the position information.
In a preferred embodiment of the above method, in a case where the power line to be operated is in a stationary state, the step of "determining the position information of the characteristic point of the power line to be operated of the power line" further includes: acquiring image data of a power line to be operated; establishing a model of the power line to be operated according to the image data; marking feature points according to the model; and measuring the distance between the characteristic point and the tail end of the mechanical arm.
In a preferred embodiment of the above method, in a case where the power line to be operated is in a vibration state, the step of "determining the position information of the characteristic point of the power line to be operated of the power line" further includes: acquiring image data of a power line to be operated; establishing a model of the power line to be operated according to the image data; marking out characteristic points of the limit positions in the vibration state according to the model; determining the characteristic points according to the characteristic points of the limit positions; and measuring the distance between the characteristic point and the tail end of the mechanical arm.
In a preferred embodiment of the above method, the motion parameter includes an angular velocity and/or an angular acceleration of each joint of the mechanical arm during the motion along the operation track.
In a preferred technical solution of the above method, the step of determining a motion parameter of the mechanical arm during the motion along the operation track according to the position information further includes: under the condition that the distance between the mechanical arm and the characteristic point is larger than a set threshold value, enabling each joint of the mechanical arm to move along an operation track at a set angular speed; and/or when the distance between the mechanical arm and the characteristic point is smaller than or equal to a set threshold value, enabling each joint of the mechanical arm to move along an operation track in a mode of reducing the angular velocity.
As can be appreciated by those skilled in the art, in the technical solution of the present invention, a system for controlling a flexible live working of a dual mechanical arm includes an industrial personal computer and two mechanical arms, and a detection unit is disposed at the end of each mechanical arm, wherein: the detection unit is used for determining position information of characteristic points of the power line to be operated; the industrial personal computer is used for determining the operation track of the mechanical arm according to the position information; and the motion parameters of the mechanical arm in the process of moving along the operation track are determined according to the position information.
Through detecting the position information of the characteristic points of the power line to be operated, the industrial personal computer plans the operation track of the mechanical arm and controls the motion parameters of the mechanical arm according to the position information, so that the mechanical arm can be controlled to carry out live working, and the motion parameters of the mechanical arm when approaching to the power line can be controlled, for example, the mechanical arm is enabled to slowly approach to the power line to realize flexible contact to the power line, the rigid mechanical arm can not damage the power line, the phenomenon that the rigid mechanical arm breaks the power line when an operator carries out misoperation due to various reasons is avoided, and the safety and reliability of a live working mode are improved.
It can be appreciated that the method for controlling the dual-mechanical arm flexible live working has all the technical effects of the system for controlling the dual-mechanical arm flexible live working, which are not described herein.
Drawings
Preferred embodiments of the present invention are described below with reference to the accompanying drawings, in which:
FIG. 1 is a schematic diagram of a system for controlling a dual-robot flexible live line operation in accordance with one embodiment of the present invention;
fig. 2 is a schematic structural view of a mechanical arm according to an embodiment of the present invention.
List of reference numerals:
1. an industrial personal computer; 2. a mechanical arm; 21. a shoulder joint; 22. a large arm; 23. an elbow joint; 24. a forearm; 25. a wrist joint; 251. wrist pitching joint; 252. a wrist swing joint; 253. a wrist rotation joint; 3. a detection unit; 31. a binocular camera; 32. a one-dimensional laser radar.
Detailed Description
It should be understood by those skilled in the art that the present embodiment is only for explaining the technical principle of the present invention, and is not intended to limit the scope of the present invention. For example, although the components in the drawings are drawn according to a certain proportion, the proportion is not constant, and a person skilled in the art can adjust the proportion according to the need so as to adapt to a specific application, and the adjusted technical scheme still falls within the protection scope of the invention.
It should be noted that, in the description of the present invention, terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like, which indicate directions or positional relationships, are based on the directions or positional relationships shown in the drawings, are merely for convenience of description, and do not indicate or imply that the apparatus or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Furthermore, it should be noted that, in the description of the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those skilled in the art according to the specific circumstances.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a system for controlling a dual-robot flexible live line work according to an embodiment of the present invention. Referring to fig. 1, the system includes an industrial personal computer 1 and two robot arms 2. The tail end of the mechanical arm 2 is provided with a detection unit 3, and the detection unit 3 is used for determining position information of a characteristic point of a power line to be operated of the power line; the industrial personal computer 1 is used for determining the operation track of the mechanical arm 2 according to the position information; and determining a motion parameter of the mechanical arm 2 in the process of moving along the operation track according to the position information.
Through detecting the position information of the characteristic points of the power line to be operated, the industrial personal computer 1 plans the operation track of the mechanical arm 2 and controls the motion parameters of the mechanical arm 2 according to the position information, so that the live working of the mechanical arm 2 can be realized, and the motion parameters of the mechanical arm 2 when the mechanical arm 2 is close to the power line can be controlled, for example, the mechanical arm 2 is slowly close to the power line to realize flexible contact on the power line, so that the rigid mechanical arm 2 cannot damage the power line, the phenomenon that the rigid mechanical arm 2 breaks the power line when an operator performs misoperation due to various reasons is avoided, and the safety and reliability of a live working mode are improved.
Preferably, the detection unit 3 includes an image acquisition processing mechanism and a ranging mechanism. The image acquisition and processing mechanism is preferably a binocular camera 31, and is used for acquiring image data of the power line to be operated under the condition that the power line to be operated is in a static state, establishing a model of the power line to be operated according to the image data, and marking characteristic points according to the model. Wherein the distance measuring means is preferably a one-dimensional lidar 32 for measuring the distance between the characteristic point and the end of the robot arm 2. For example, when the binocular camera 31 creates a model from image data of a power line to be operated, a point to be repaired (such as a broken point) on the model is identified, and the point is marked as a feature point.
Preferably, the binocular camera 31 is further configured to acquire image data of the power line to be operated in a case where the power line to be operated is in a vibration state, build a model of the power line to be operated according to the image data, label limit position feature points in the vibration state according to the model, and determine the feature points according to the limit position feature points. The one-dimensional lidar 32 is also used to measure the distance between the feature point and the robotic arm 2. For example, when the power line to be operated is in a shaking state, two limit values of the amplitude of the power line to be operated are marked, then an intermediate value of the two limit values is determined according to the two limit values, and the position where the intermediate value is located is marked as a characteristic point.
Through setting up binocular camera 31 and one-dimensional laser radar 32, the distance between the terminal of arm 2 and the characteristic point of the power line of waiting to operate that can be accurate, the high accuracy position and the distance information that can't all be obtained when obtaining the direct operation of operating personnel naked eye, realize the more accurate control to arm 2, improve arm 2 control system's operation precision, prevent that the collision from taking place, improved the operation security.
It will be appreciated that although the image acquisition processing mechanism is described in the above embodiment as a binocular camera 31 and the range finding mechanism as a one-dimensional lidar 32, this is not a limitation of the image acquisition processing mechanism and the range finding mechanism, but other types of image acquisition processing mechanisms and range finding mechanisms, such as a three-dimensional camera, a two-dimensional lidar, are also possible. The type of image acquisition processing mechanism and ranging mechanism can be reasonably set by a person skilled in the art according to actual situations and needs.
As shown in fig. 2, fig. 2 is a schematic structural diagram of a mechanical arm according to an embodiment of the present invention. Referring to fig. 2, a system for controlling a dual-robot flexible live line work includes a robot platform on which an industrial personal computer 1 and two robot arms 2 are disposed. Preferably, the two mechanical arms 2 are identical in structure. One of the mechanical arms 2 is described and illustrated as an example.
Preferably, the robotic arm 2 includes a shoulder joint 21, a forearm 22, an elbow joint 23, a forearm 24, and a wrist joint 25. Wherein the shoulder joint 21 is mounted on the robot platform, one end of the large arm 22 is movably connected with the robot platform through the shoulder joint 21, the other end of the large arm 22 is provided with the elbow joint 23, one end of the small arm 24 is movably connected with the large arm 22 through the elbow joint 23, and the wrist joint 25 is movably arranged at the other end of the small arm 24. A binocular camera 31 and a one-dimensional lidar 32 are provided to the wrist joint 25.
Through imitating two arm 2 of human arm design for arm 2 has six degrees of freedom, has improved the flexible degree of arm 2, is favorable to realizing the flexible operation of arm 2 to the power line, can effectively avoid the obstacle in the environment to imitate the operation order completion live working of two hands of human, like carrying out operations such as wiring, wire releasing to the power line moreover. Through setting up binocular camera 31 and one-dimensional laser radar 32 in the terminal wrist joint 25 of arm 2 for binocular camera 31 and one-dimensional laser radar 32 can be in real time and accurate mark the characteristic point of power line and measure the distance of the terminal distance characteristic point of arm 2, are favorable to realizing the more accurate control of industrial computer 1 to arm 2.
With continued reference to fig. 2, preferably, wrist joint 25 is comprised of three rotational joints, including wrist pitch joint 251, wrist roll joint 252, and wrist rotational joint 253. The wrist pitching joint 251 is connected to the end of the forearm 24 and can rotate around the end of the forearm 24 in the up-down direction; the wrist swing joint 252 is connected to the wrist pitch joint 251 and is rotatable in the front-rear direction around the wrist pitch joint 251; wrist rotation joint 253 is connected to wrist swing joint 252 and is capable of rotational movement about the axis of wrist swing joint 252. The binocular camera 31 and the one-dimensional lidar 32 are disposed on the wrist rocking joint 252 without affecting the motion of the wrist rocking joint 252. Tools for maintenance of the power line are mounted on the wrist rotation joint 253.
Through the arrangement, the flexibility of the mechanical arm 2 is further improved, and the industrial personal computer 1 can realize the movement of the tail end operation tool in all directions by controlling the mechanical arm 2 and the wrist joint 25 at the tail end of the mechanical arm 2, so as to simulate the operation modes of two hands of a person.
Preferably, the control method when the above system for controlling the dual-robot flexible live working is adopted is as follows.
The control method comprises the following steps: s10, determining position information of characteristic points of a power line to be operated of the power line; s20, determining an operation track of the mechanical arm 2 according to the position information; s30, determining the motion parameters of the mechanical arm 2 in the process of moving along the operation track according to the position information.
Through such setting, not only can control arm 2 and carry out live working, but also the motion parameter when arm 2 is close to the power line can be controlled, if make arm 2 slowly be close to the flexible contact of power line realization to the power line, when having avoided the operator to carry out the maloperation because of various reasons, the phenomenon of rigid arm 2 breaking the power line has improved the security and the reliability of live working mode.
Preferably, in the case where the power line to be operated is in a stationary state, step S10 further includes: s11, acquiring image data of a power line to be operated; s12, establishing a model of a power line to be operated according to the image data; s13, marking feature points according to the model; and S14, measuring the distance between the characteristic point and the tail end of the mechanical arm 2.
Through such setting, can acquire the high accuracy position and the distance information that can't acquire when operating personnel naked eye direct operation, realize the more accurate control to arm 2, improve arm 2 control system's operation precision, prevent that the collision from taking place, improved the operation security.
Preferably, in the case where the power line to be operated is in a vibration state, step S10 further includes: s111, acquiring image data of a power line to be operated; s121, establishing a model of a power line to be operated according to the image data; s131, marking limit position feature points in a vibration state according to the model; s141, determining characteristic points according to the characteristic points of the limit positions; and S151, measuring the distance between the characteristic point and the tail end of the mechanical arm 2.
Since the power line is shaking, there may occur a phenomenon that the distance between the end of the robot arm 2 and the characteristic point of the power line is detected to be 0, but in reality, the end of the robot arm 2 does not stably contact the position of the characteristic point of the power line. If the mechanical arm 2 is controlled to stop moving at the moment, a certain distance exists between the tail end of the mechanical arm 2 and the power line. Therefore, by such arrangement, the end of the arm 2 can be stopped in the middle of the swing amplitude of the power line, which is advantageous for the next operation of the operating tool at the end of the arm 2.
Preferably, the motion parameter is the angular velocity of each joint of the mechanical arm 2 during the motion along the operation trajectory. Step S30 further includes: s31, when the distance between the mechanical arm 2 and the characteristic point is larger than a set threshold value, enabling each joint of the mechanical arm 2 to move along an operation track at a set angular velocity rate; s32, when the distance between the mechanical arm 2 and the feature point is equal to or less than the set threshold value, each joint of the mechanical arm 2 is moved along the operation trajectory so that the angular velocity decreases.
Through such setting, when arm 2 carries out live working, realize the flexible contact to the power line, avoid rigid arm 2 to damage the power line for the operational safety of the system for controlling two arm live working greatly increases, has still protected electric power system safety simultaneously.
Preferably, the set angular velocity may be the maximum running angular velocity of the mechanical arm 2, and when the distance is far, the moving time of the mechanical arm 2 to the power line to be operated is shortened, so that the working efficiency is improved. It will be appreciated that the angular velocity can be set appropriately by those skilled in the art according to the actual situation and the need. Furthermore, it is also understood that the movement parameters may also include the angular acceleration of the robot arm 2 during movement along the operation trajectory. The person skilled in the art can reasonably set the motion parameters according to the actual situation and the needs.
As an example, the threshold value is set to 30cm. If the industrial personal computer 1 detects that the distance is less than 30cm, controlling the angular speed of each joint of the mechanical arm 2 to be reduced by 30% on the original basis; when the distance is detected to be smaller than 20cm, controlling the angular speed of each joint of the mechanical arm 2 to be reduced by 60% on the original basis; when the distance is detected to be smaller than 10cm, controlling the angular speed of each joint of the mechanical arm 2 to be reduced by 90% on the original basis; when the distance is detected to be equal to 0cm, the angular velocity of each joint of the robot arm 2 is controlled to be 0.
It is to be understood that, in the case where the distance is equal to or less than the set threshold value in step S32, the manner in which the angular velocity of each joint of the control robot arm 2 gradually decreases with decreasing distance may be other manners. For example, the angular velocity of each joint of the robot arm 2 may be set to =the original angular velocity of each joint (measured actual distance/set threshold). The relationship between the angular velocity and the distance of each joint of the mechanical arm 2 can be reasonably set according to the actual situation and the need.
Further, it is also understood that the setting of the threshold value of 30cm in the above embodiment is only an example, and those skilled in the art can set the setting of the threshold value to other values, such as 35cm, etc., according to actual situations and needs.
Preferably, when the tip of the robot arm 2 reaches the position of the characteristic point of the power line to be operated, there are two judgment methods of stopping the movement of the tip of the robot arm 2. In the case where the tip of the robot arm 2 is provided with a contact torque sensor, the tip of the robot arm 2 is stopped from moving when the pressure value of the contact torque sensor increases suddenly. In another case that the contact moment sensor is not arranged at the tail end of the mechanical arm 2, the industrial personal computer 1 judges the deformation condition of the contact area of the power line to be operated according to the characteristic points marked by the binocular camera 31 and the information measured by the one-dimensional laser radar 32, and controls the tail end of the mechanical arm 2 to stop moving under the condition that the contact area of the power line is deformed.
By such arrangement, the phenomenon that the tail end of the mechanical arm 2 still moves to damage the power line after the tail end of the mechanical arm 2 is contacted with the power line to be operated is prevented, and the safety and reliability of live working are improved.
As can be seen from the above description, the system for controlling a dual-robot flexible live line work of the present invention includes an industrial personal computer and two robots, the ends of which are provided with a detection unit. The arrangement ensures that the rigid mechanical arm can not damage the power line, and improves the safety and reliability of the live working mode. Preferably, the detection unit comprises a binocular camera and a one-dimensional lidar. The distance between the tail end of the mechanical arm and the characteristic point of the power line can be accurately measured through the arrangement, the operation precision of the mechanical arm control system is improved, collision is prevented, and the operation safety is improved. Preferably, the robotic arm includes a shoulder joint, a forearm, an elbow joint, a forearm, and a wrist joint. The device can effectively avoid the operation sequence of two hands of a person imitating the obstacle in the environment to finish live working, improves the flexibility of the mechanical arm, and is beneficial to realizing the flexible operation of the mechanical arm on the power line.
Thus far, the technical solution of the present invention has been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of protection of the present invention is not limited to these specific embodiments. Equivalent modifications and substitutions for related technical features may be made by those skilled in the art without departing from the principles of the present invention, and such modifications and substitutions will fall within the scope of the present invention.
Claims (7)
1. The utility model provides a system for controlling flexible live working of two arms, its characterized in that, the system includes industrial computer and two arms, the end of arm is provided with detecting element, wherein:
the detection unit is used for determining position information of characteristic points of the power line to be operated;
the industrial personal computer is used for determining the operation track of the mechanical arm according to the position information; and
the motion parameters of the mechanical arm in the motion process along the operation track are determined according to the position information;
the detection unit includes: the image acquisition processing mechanism is used for acquiring image data of the power line to be operated under the condition that the power line to be operated is in a static state, establishing a model of the power line to be operated according to the image data and marking feature points according to the model; the image acquisition processing mechanism is also used for acquiring image data of the power line to be operated under the condition that the power line to be operated is in a vibration state, establishing a model of the power line to be operated according to the image data, marking limit position characteristic points in the vibration state according to the model and determining the characteristic points according to the limit position characteristic points; and
and the distance measuring mechanism is used for measuring the distance between the characteristic point and the tail end of the mechanical arm.
2. The system of claim 1, wherein the system comprises a robotic platform, the robotic arm comprises a shoulder joint, a forearm, an elbow joint, a forearm and a wrist joint,
wherein one end of the big arm is movably arranged on the robot platform through the shoulder joint, one end of the small arm is movably connected with the other end of the big arm through the elbow joint, the wrist joint is movably connected with the other end of the small arm,
wherein, image acquisition processing mechanism with range finding mechanism set up in the wrist joint.
3. The system of claim 2, wherein the image acquisition processing mechanism is a binocular camera and the ranging mechanism is a one-dimensional lidar.
4. A system according to claim 2 or 3, wherein the two robotic arms are identical in structure.
5. A method for controlling a dual-robot flexible live line work, the method comprising the steps of:
determining position information of a characteristic point of the power line to be operated of the power line;
determining an operation track of the mechanical arm according to the position information;
determining a motion parameter of the mechanical arm in the process of moving along an operation track according to the position information;
the step of "determining the position information of the characteristic points of the power line to be operated of the power line" further includes: acquiring image data of a power line to be operated in a case where the power line to be operated is in a stationary state; establishing a model of the power line to be operated according to the image data; marking feature points according to the model; measuring the distance between the characteristic point and the tail end of the mechanical arm;
the step of "determining the position information of the characteristic point of the power line to be operated of the power line" further includes: acquiring image data of a power line to be operated in a situation that the power line to be operated is in a vibration state; establishing a model of the power line to be operated according to the image data; marking out characteristic points of the limit positions in the vibration state according to the model; determining the characteristic points according to the characteristic points of the limit positions; and measuring the distance between the characteristic point and the tail end of the mechanical arm.
6. The method according to claim 5, wherein the motion parameters comprise angular velocity and/or angular acceleration of each joint of the robotic arm during motion along the operational trajectory.
7. The method of claim 6, wherein determining a motion parameter of the robotic arm during motion along the operational trajectory based on the position information further comprises:
under the condition that the distance between the mechanical arm and the characteristic point is larger than a set threshold value, enabling each joint of the mechanical arm to move along an operation track at a set angular speed; and/or
And under the condition that the distance between the mechanical arm and the characteristic point is smaller than or equal to a set threshold value, enabling each joint of the mechanical arm to move along an operation track in a mode of reducing the angular velocity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810846453.4A CN108789416B (en) | 2018-07-27 | 2018-07-27 | System and method for controlling flexible live working of double mechanical arms |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810846453.4A CN108789416B (en) | 2018-07-27 | 2018-07-27 | System and method for controlling flexible live working of double mechanical arms |
Publications (2)
| Publication Number | Publication Date |
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| CN108789416A CN108789416A (en) | 2018-11-13 |
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| CN110421546A (en) * | 2019-06-21 | 2019-11-08 | 国网安徽省电力有限公司淮南供电公司 | A kind of distribution network live line work robot with automatic quick change engaging tool system |
| TW202107232A (en) * | 2019-06-24 | 2021-02-16 | 美商即時機器人股份有限公司 | Motion planning for multiple robots in shared workspace |
| CN111844004A (en) * | 2020-07-23 | 2020-10-30 | 东北林业大学 | Mechanical arm capable of rotating accurately |
| CN113131395B (en) * | 2021-03-04 | 2022-08-26 | 国网浙江桐庐县供电有限公司 | Insulating rod live working mechanical arm |
| CN114770524B (en) * | 2022-06-02 | 2023-10-13 | 广州南方电安科技有限公司 | Live working robot for power distribution network |
| US11717969B1 (en) * | 2022-07-28 | 2023-08-08 | Altec Industries, Inc. | Cooperative high-capacity and high-dexterity manipulators |
| CN117207202B (en) * | 2023-11-09 | 2024-04-02 | 国网山东省电力公司东营供电公司 | Anti-collision constraint control method, system, terminal and medium for live working robot |
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